/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 ****************************************************************************/

/**
 * @file Gyroscope driver interface.
 */

#ifndef _DRV_GYRO_H
#define _DRV_GYRO_H

#include <stdint.h>
#include <sys/ioctl.h>

#include "drv_sensor.h"
#include "drv_orb_dev.h"

#define GYRO_DEVICE_PATH        "/dev/gyro"

/**
 * gyro report structure.  Reads from the device must be in multiples of this
 * structure.
 */
struct gyro_report {
        uint64_t timestamp;
        uint64_t error_count;
        float x;                /**< angular velocity in the NED X board axis in rad/s */
        float y;                /**< angular velocity in the NED Y board axis in rad/s */
        float z;                /**< angular velocity in the NED Z board axis in rad/s */
        float temperature;      /**< temperature in degrees celcius */
        float range_rad_s;
        float scaling;

        int16_t x_raw;
        int16_t y_raw;
        int16_t z_raw;
        int16_t temperature_raw;
};

/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
struct gyro_scale {
        float   x_offset_a;
        float   x_offset_b;
        float   x_offset_c;
        float   x_scale;
        float   y_offset_a;
        float   y_offset_b;
        float   y_offset_c;
        float   y_scale;
        float   z_offset_a;
        float   z_offset_b;
        float   z_offset_c;
        float   z_scale;
};

/*
 * ObjDev tag for raw gyro data.
 */
ORB_DECLARE(sensor_gyro);

/*
 * ioctl() definitions
 */

#define _GYROIOCBASE            (0x2300)
#define _GYROIOC(_n)            (_IOC(_GYROIOCBASE, _n))

/** set the gyro internal sample rate to at least (arg) Hz */
#define GYROIOCSSAMPLERATE      _GYROIOC(0)

/** return the gyro internal sample rate in Hz */
#define GYROIOCGSAMPLERATE      _GYROIOC(1)

/** set the gyro internal lowpass filter to no lower than (arg) Hz */
#define GYROIOCSLOWPASS         _GYROIOC(2)

/** set the gyro internal lowpass filter to no lower than (arg) Hz */
#define GYROIOCGLOWPASS         _GYROIOC(3)

/** set the gyro scaling constants to (arg) */
#define GYROIOCSSCALE           _GYROIOC(4)

/** get the gyro scaling constants into (arg) */
#define GYROIOCGSCALE           _GYROIOC(5)

/** set the gyro measurement range to handle at least (arg) degrees per second */
#define GYROIOCSRANGE           _GYROIOC(6)

/** get the current gyro measurement range in degrees per second */
#define GYROIOCGRANGE           _GYROIOC(7)

/** check the status of the sensor */
#define GYROIOCSELFTEST         _GYROIOC(8)

#endif /* _DRV_GYRO_H */
